基于任务的可重构模块机器人构形确定方法  

TASK-BASED METHOD FOR DETERMINING TOPOLOGY OF RECONFIGURABLE MODULAR ROBOT

作　　者：魏延辉 赵杰[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《机械工程学报》2006年第B05期93-97,共5页Journal of Mechanical Engineering

基　　金：黑龙江省博士后科研启动基金资助项目(LRB-KY 02029)。

摘　　要：可重构机器人为柔性加工系统提供了更多的选择,但复杂多变的任务、环境以及机器人模块无穷组合,为机器人构形的确定带来了很大的难题。采用遗传算法和迭代算法分两级搜索对机器人构形组合进行优化设计:运用遗传算法对机器人构形进行进化设计,满足工作空间的可达性、环境避障、线性和角度误差、末端操作灵巧度、运动关节的动力学要求、期望模块数目等性能指标要求。运用迭代算法对构形进行运动学逆解求解,计算空间工作点的可达性适应度。根据可装配的模块机器人及模块化思想,建立各个模块的速度、加速度等动力学表达式及相关修正公式,采用补偿迭代法来自动生成动力学方程,计算运动模块驱动性能的适应度。用专家经验对搜索得到适应度较高的构形进行修正,得到满足工作要求的机器人构形。最后给出实例验证。Reconfigurable robot supplies more choices for flexible manufacturing system, but the complicated tasks, environments and robot modular that can assemble in infinite form are greatly difficult problems for the finalization of robot topology. Genetic algorithms （GA） and iteration algorithms （IA） that in the two layers＇ search are used in the optimum design of the combination of the robot topology. GA is used to do the evolutionary design for the robot topology, meeting the reach ability in the workspace, the obstacle proximity, the linear and angular distances, the dexterity in the end, the dynamics need of DOF joint, expected number of involved module and other performance criteria. IA is used to resolve inverse kinematics and compute the reach ability in the work point in the space. According to the assemble modular robot and the idea of the modular, the formulas of velocity, acceleration and other essential dynamics equations can be derived. For the purpose of automated modeling, the dynamics problems are solved by means of an iteration compensative method. The highly adaptable topology that obtained in the search using the professional experiments is modified to meet requests of the actual work. Finally, a practical example is given.

关 键 词：模块机器人 遗传算法 构形优化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]